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@ -19,34 +19,34 @@ void OnroadAlerts::clear() { |
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} |
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OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) { |
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const cereal::SelfdriveState::Reader &cs = sm["selfdriveState"].getSelfdriveState(); |
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const uint64_t controls_frame = sm.rcv_frame("selfdriveState"); |
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const cereal::SelfdriveState::Reader &ss = sm["selfdriveState"].getSelfdriveState(); |
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const uint64_t selfdrive_frame = sm.rcv_frame("selfdriveState"); |
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Alert a = {}; |
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if (controls_frame >= started_frame) { // Don't get old alert.
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a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), |
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cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()}; |
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if (selfdrive_frame >= started_frame) { // Don't get old alert.
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a = {ss.getAlertText1().cStr(), ss.getAlertText2().cStr(), |
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ss.getAlertType().cStr(), ss.getAlertSize(), ss.getAlertStatus()}; |
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} |
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if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) { |
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const int CONTROLS_TIMEOUT = 5; |
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const int controls_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9; |
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const int SELFDRIVE_STATE_TIMEOUT = 5; |
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const int ss_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9; |
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// Handle controls timeout
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if (controls_frame < started_frame) { |
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// Handle selfdrive timeout
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if (selfdrive_frame < started_frame) { |
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// car is started, but selfdriveState hasn't been seen at all
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a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"), |
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"controlsWaiting", cereal::SelfdriveState::AlertSize::MID, |
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a = {tr("openpilot Unavailable"), tr("Waiting to start"), |
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"selfdriveWaiting", cereal::SelfdriveState::AlertSize::MID, |
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cereal::SelfdriveState::AlertStatus::NORMAL}; |
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} else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) { |
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// car is started, but controls is lagging or died
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if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) { |
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a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"), |
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"controlsUnresponsive", cereal::SelfdriveState::AlertSize::FULL, |
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} else if (ss_missing > SELFDRIVE_STATE_TIMEOUT && !Hardware::PC()) { |
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// car is started, but selfdrive is lagging or died
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if (ss.getEnabled() && (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10) { |
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a = {tr("TAKE CONTROL IMMEDIATELY"), tr("System Unresponsive"), |
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"selfdriveUnresponsive", cereal::SelfdriveState::AlertSize::FULL, |
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cereal::SelfdriveState::AlertStatus::CRITICAL}; |
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} else { |
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a = {tr("Controls Unresponsive"), tr("Reboot Device"), |
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"controlsUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID, |
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a = {tr("System Unresponsive"), tr("Reboot Device"), |
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"selfdriveUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID, |
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cereal::SelfdriveState::AlertStatus::NORMAL}; |
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} |
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} |
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Adeeb Shihadeh
8 months ago
committed by
GitHub